Included workspace plot

content/posts/delta-robot/index.md

@@ -25,9 +25,8 @@ The robot's forward and inverse kinematics were first implemented in a [jupyter
 
 The forward and inverse kinematics were then implemented in C++ following the approach described on the Trossen Robotics forum [1]. Access to the kinematics lets us plan paths in the joint space significantly easier and safer since the workspace is irregular. Once a joint trajectory is planned, the path can be verified to stay in the workspace
 
-<!-- <div align="center">
+<div id="workspace-container"></div>
-  <iframe src="static/workspace.html" width="800" height="600" style="border:none;"></iframe>
+WORKSPACE ABOVE THIS
-</div> -->
 
 <div align="center">
   <img src="workspace.png" alt="Delta Robot Workspace" style="border-radius: 15px; width: 50%; margin-left: 5px; display: inline-block;">
@@ -159,7 +158,7 @@ The Modern Robotics [2] textbook details the process of deriving the Jacobian fo
 Using the Jacobian we can convert end-effector position trajectories into Joint velocity trajectories.
 
 <div align="center" style="overflow-x: auto; width: 100%;">
-  <img src="circle_pos_vel.png" alt="Circle Trajectory" style="border-radius: 15px; width: 80%; margin-left: 5px; display: inline-block;">
+  <img src="circle_pos_vel.png" alt="Circle Trajectory" style="border-radius: 15px; width: 95%; margin-left: 5px; display: inline-block;">
 </div>
 
 <div>

layouts/_default/single.html

@@ -82,6 +82,28 @@
   <a id="scroll-to-top" class="btn" type="button" data-bs-toggle="tooltip" data-bs-placement="left" title="Scroll to top">
     <i class="fas fa-chevron-circle-up"></i>
   </a>
+
+  {{ if eq .Page.Title "Delta Robot ROS Package" }}
+  <script>
+  document.addEventListener("DOMContentLoaded", function () {
+    const workspaceContainer = document.getElementById("workspace-container");
+
+    if (workspaceContainer) {
+      fetch("/workspace_plot.html") // Ensure this path is correct
+        .then(response => {
+          if (!response.ok) {
+            throw new Error("Failed to load workspace.html");
+          }
+          return response.text();
+        })
+        .then(data => {
+          workspaceContainer.innerHTML = data; // Embed workspace.html content
+        })
+        .catch(error => console.error("Error loading workspace:", error));
+    }
+  });
+  </script>
+  {{ end }}
 </section>
 {{ end }}
 
@@ -97,4 +119,4 @@
     </div>
     {{ end }}
   </section>
-{{ end }}
+{{ end }}